Arrangement method and system for covering hemispherical space by multiple sensors

Abstract

The invention relates to the technical field of sensing and detection, and discloses an arrangement method and system for covering a hemispherical space by multiple sensors, and the method comprises the steps: setting a reference hemispherical surface and field angle parameters of the sensors; introducing a transverse and longitudinal minimum overlapping coefficient; dividing a pitching strip through a layer field angle, and calculating the number of sensors in each layer and the main optical axis direction; deploying a single large-field-of-view sensor at the top to complement an uncovered area; the bottoms of all the sensors are horizontally aligned and concentrically and annularly installed. The system comprises a parameter input module, a strip division module, a quantity calculation module, a direction determination module, a physical deployment module and the like. According to the invention, through parameterization of the geometric arrangement model, non-blind-area, low-redundancy and high-robustness hemisphere space visual coverage is realized, and a reliable data basis is provided for image splicing and three-dimensional reconstruction.

Description

Technical Field

[0001] This invention belongs to the field of sensing and detection technology, specifically relating to a method and system for arranging multiple sensors to cover a hemispherical space. Background Technology

[0002] In applications such as intelligent security, panoramic monitoring, and environmental perception, achieving complete visual coverage of the upper hemisphere centered on a specific point is a fundamental and critical technical requirement. These scenarios typically require systems capable of capturing target information from any orientation and pitch angle without blind spots, thus supporting advanced tasks such as target recognition, behavior analysis, or 3D reconstruction. To achieve this, existing solutions generally employ multiple image sensors arranged in space, utilizing their combined field of view to approximate ideal hemispherical observation capabilities. However, since image sensors themselves have fixed rectangular imaging surfaces and corresponding finite lateral and longitudinal field of view, how to efficiently, comprehensively, and with necessary redundancy and overlap, arrange multiple sensors becomes a core challenge limiting system performance.

[0003] Multi-sensor hemispherical coverage deployment methods need to achieve 360° horizontal surround and nearly 90° vertical pitch full coverage while ensuring reasonable overlap of the fields of view between adjacent sensors to support practical engineering requirements such as image stitching, stereo matching, or fault tolerance. An ideal deployment strategy should be able to accommodate the inherent field of view parameters of the sensors (such as lateral field of view). With longitudinal field of view By combining preset minimum overlap coefficients in the horizontal and vertical directions, the number of sensors required for each layer, the installation pitch angle, and the horizontal distribution angle are dynamically calculated, thereby minimizing hardware costs and system complexity while ensuring coverage integrity.

[0004] Common multi-camera spherical coverage schemes often employ empirical arrangement or simple equidistant stacking, lacking precise modeling of hemispherical geometry. These methods often ignore the characteristic that the circumference of the circle at different pitch heights decays with the cosine function, leading to redundant sensor numbers in high-level areas or insufficient coverage in low-level areas. Furthermore, most schemes lack a unified overlap control mechanism, making it difficult to simultaneously ensure necessary field-of-view overlap in both horizontal and vertical dimensions, thus affecting the quality of subsequent image fusion. In addition, for small, uncovered areas in the top polar region, existing designs often use fixed wide-angle lenses for rough completion, lacking parameter-linked optimization with the main coverage structure, easily creating new blind spots or areas of concentrated distortion. Summary of the Invention

[0005] This invention provides a method and system for arranging multiple sensors to cover a hemispherical space. It aims to solve the technical problems in existing technologies for visual coverage scenarios in the upper hemisphere centered on a certain point, such as coverage blind spots, redundant deployments, or stitching failures caused by the lack of a systematic, quantifiable, and field-of-view overlap guarantee mechanism for the spatial arrangement of multiple image sensors. This invention achieves complete visual coverage of the hemispherical space with no blind spots, high robustness, and low redundancy by constructing a geometric arrangement model based on layered strip division and parameterized overlap control.

[0006] This invention provides a method for arranging multiple sensors to cover a hemispherical space, comprising the following steps:

[0007] A reference hemisphere is defined, with its center at the center of the monitored area and a radius of [missing information]. Set the lateral field of view of a single rectangular image sensor. With longitudinal field of view ,in Greater than or equal to Set the minimum horizontal overlap coefficient. Its value ranges from 0 to 0.3; a minimum vertical overlap coefficient is set. Its value ranges from 0 to 0.3;

[0008] Calculation layer angle Its expression is ;

[0009] The reference hemisphere is divided into multiple strips along the pitch direction, with each strip corresponding to a sensor arrangement area. The number of strips is... ;

[0010] Calculate the angle of the top not covered Its expression is ;

[0011] For each layer ,in Perform the following operations: Calculate the number of image sensors required for this layer. Its expression is Then round the resulting quotient up; determine the horizontal angle of the principal optical axis of each image sensor in this layer. , Determine the principal optical axis pitch angle of each image sensor in this layer. , ;

[0012] In the top region of the reference hemisphere, a device with a field of view greater than [missing information] is deployed. The image sensor is used to cover the remaining top area not covered by the strip;

[0013] All image sensors are aligned with their respective principal optical axes at horizontal angles. pitch angle relative to the principal optical axis The physical installation is performed so that the bottom of the imaging plane of all image sensors is on the same horizontal reference plane and distributed in a concentric ring around the center of the sphere.

[0014] Furthermore, in the calculation layer angle Previously, the minimum vertical overlap coefficient was dynamically adjusted based on the trade-off between coverage integrity and sensor cost in actual application scenarios. The value of is such that the top does not cover the angle. Less than 20 degrees Celsius.

[0015] Furthermore, for different levels Each allows for the independent setting of its own minimum horizontal overlap coefficient. The goal is to minimize the number of image sensors required for this layer while ensuring that the lateral field of view overlap between adjacent sensors is not less than a preset threshold.

[0016] Furthermore, the mounting structure of the image sensor includes a rigid support frame composed of multiple concentric horizontal rings, each horizontal ring corresponding to a strip layer. The ring is equipped with The sensor mounting bases are evenly distributed at various angles. Each mounting base has a hinge mechanism with an adjustable pitch angle, the adjustment angle of which is fixed at a certain value. .

[0017] Furthermore, the top image sensor is mounted above the central axis of the rigid support frame, with its optical axis pointing vertically upwards, and its field of view covering an angle with the center of the sphere as the vertex and a subtended angle of [missing information]. The conical region.

[0018] This invention provides a multi-sensor arrangement system covering a hemispherical space, comprising:

[0019] Refer to the hemispherical definition module, used to set the center of the sphere as the monitoring center and the radius as... The reference hemisphere;

[0020] The sensor parameter input module is used to receive the lateral field of view of a single image sensor. Longitudinal field of view Horizontal minimum overlap coefficient and the minimum vertical overlap coefficient ;

[0021] The layer angle calculation module is used to calculate the angle based on the formula. The layer angle was calculated. ;

[0022] The striping module is used to divide the reference hemisphere along the pitch direction into strips. There are several bands, among which ;

[0023] The top angle calculation module is used to calculate the angle according to the formula. Calculate the angle not covered at the top. ;

[0024] The multi-layer sensor count calculation module is used to calculate the number of sensors for each layer. According to the formula Calculate the number of image sensors required for this layer;

[0025] The main optical axis direction determination module is used for each layer. Determine the horizontal angle of the principal optical axis of each image sensor. Principal optical axis pitch angle ;

[0026] Top sensor configuration module, used to configure the field of view to be greater than The image sensor is used to cover the top area;

[0027] The physical deployment execution module is used to install all image sensors on a rigid support frame in accordance with the determined main optical axis direction, ensuring that the bottom of each layer of sensors is horizontally aligned and evenly distributed around the center of the sphere.

[0028] Furthermore, the rigid support frame includes A series of horizontal concentric rings, each ring corresponding to a strip layer. The ring is equipped with There are 10 mounting sites, each equipped with a fixed pitch angle. Mechanical support.

[0029] Furthermore, during installation, the physical deployment execution module ensures that the overlap angle of the image sensors between any two adjacent layers in the longitudinal field of view is not less than [value missing]. Furthermore, the overlap angle between any two adjacent image sensors in the same layer in the lateral field of view is not less than [value missing]. .

[0030] Furthermore, the system also includes a coverage verification module, which, after deployment, uses ray casting to determine the field of view of discrete sampling points on the reference hemisphere and confirms that all sampling points are covered by the field of view of at least one image sensor.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] 1. This invention proposes a method and system for multi-image sensor hemispherical spatial coverage arrangement based on geometric layering and parametric overlap control, by introducing a minimum lateral overlap coefficient. Minimum overlap coefficient with vertical direction As design constraint parameters, a quantitative mathematical relationship was established between the number of sensors, their arrangement angle, and coverage integrity.

[0033] 2. This invention avoids the problems of coverage blind spots or excessive redundancy caused by traditional empirical arrangement, and ensures that adjacent sensors have controllable and verifiable field-of-view overlap areas in both the horizontal and vertical directions, providing a reliable underlying data foundation for subsequent image stitching, target tracking and 3D reconstruction.

[0034] 3. This invention transforms the complex spherical surface coverage problem into a series of planar annular coverage sub-problems through a striped layering strategy, significantly reducing the complexity of system design and engineering implementation. The uncovered top area is filled in using a single sensor, further simplifying the top structure.

[0035] 4. The overall solution has the technical advantages of adjustable parameters, clear deployment, complete coverage, and controllable redundancy, and is suitable for application scenarios that require all-round blind-spot-free visual coverage, such as security monitoring, panoramic visual perception, intelligent transportation, and UAV visual navigation. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall technical solution architecture of the present invention;

[0037] Figure 2 This is a schematic diagram of the core principle framework of the geometric arrangement model based on layered strip division and parameterized overlap control in this invention;

[0038] Figure 3 This is a flowchart illustrating the logical flow of the hemispherical layered strip division and the calculation of the uncovered top area in this invention.

[0039] Figure 4 This is a flowchart illustrating the logic flow of calculating the number of multi-layer sensors and determining the direction of the main optical axis in this invention.

[0040] Figure 5 This is a schematic diagram of the multi-level interaction relationship and data flow between the rigid support frame structure and the physical deployment of sensors in this invention;

[0041] Figure 6 This is a flowchart illustrating the logical flow of the coverage verification module in this invention, which uses ray casting to determine the field of view attribution. Detailed Implementation

[0042] Please refer to the attached document. Figure 1 To be continued Figure 6This invention provides a method and system for arranging multiple sensors to cover a hemispherical space. Its purpose is to solve technical problems such as coverage blind spots, redundant deployments, or image stitching failures caused by the lack of a systematic, quantifiable, and field-of-view overlap guarantee scheme for spatial arrangement of multiple image sensors in a visual monitoring scenario centered on a certain point in the upper hemisphere. This is due to the lack of such a scheme. This embodiment describes in detail the specific execution flow and system composition of the method, ensuring that all technical features are fully disclosed and meeting the requirements of patent law for full disclosure.

[0043] The method uses a reference hemisphere as a geometric reference, with the center of the monitored area as the center and a radius of [missing information]. A single image sensor employs a rectangular imaging surface, with its lateral field of view denoted as... The longitudinal field of view is denoted as And satisfy Greater than or equal to To ensure a controllable field-of-view overlap between adjacent sensors in both the lateral and longitudinal directions, two key design parameters are introduced: minimum lateral overlap coefficient. Minimum overlap coefficient with vertical direction .in, The value range is from 0 to 0.3. The value range is also from 0 to 0.3. These two coefficients directly determine the minimum angular ratio of the overlapping areas of the fields of view of adjacent sensors, which are the basic constraints for achieving blind-spot-free coverage and robust image stitching.

[0044] After setting the above parameters, first calculate the layer angle. Layer angle Defined as the effective angular range covered by each sensor strip in the pitch direction, its calculation formula is: This formula shows that when the longitudinal minimum overlap coefficient is... When it increases, the layer angle Reducing the size of the overlap area between the upper and lower layers means increasing the redundancy and robustness of the coverage; conversely, increasing the size of the overlap area means increasing the overlap area between the upper and lower layers. Decrease Increasing the number of layers can reduce the number of layers required, but it is necessary to ensure that the uncovered area at the top remains within a controllable range.

[0045] Subsequently, the reference hemisphere is divided into multiple continuous strips along the pitch direction from the horizontal plane (pitch angle zero degrees) upwards. Each strip corresponds to the arrangement area of ​​one layer of image sensors, and its longitudinal span is the layer angle. Number of stripes The rounding down operation here ensures that all complete stripes are within 90 degrees, avoiding exceeding the physical boundaries of the hemispherical space.

[0046] After determining the number of strips N, calculate the remaining angle at the top that is not covered by any strip. The angle Located at the top of the hemisphere, it is a conical region with its apex at the center of the sphere and its axis pointing vertically upwards. The calculation formula is: The derivation of this formula is based on the following geometric fact: the center pitch angle of the bottommost strip S0 is 0.5. Its lower edge is at zero pitch angle, and its upper edge is at zero pitch angle. The center pitch angle of the second layer S1 is And so on, the first Center pitch angle of the layer Therefore, the first The pitch angle of the upper edge of the layer (i.e., the uppermost complete strip) is However, a simpler derivation method considers the relationship between the center position and floor height of each layer, ultimately yielding the total angle of the top gap as expressed above. By adjusting... The value of can make The angle is less than 20 degrees, thus ensuring that the top area can be effectively covered by a single wide-angle lens, avoiding complex multi-sensor stacking.

[0047] For each layer ( Start counting from zero, until... The following sub-steps are performed to determine the sensor configuration for this layer:

[0048] First, calculate the number of image sensors required for this layer. Since each layer is located at a different pitch height, its corresponding horizontal circumference on the sphere decreases as the pitch angle increases, specifically as follows: To cover the circumference, the lateral field of view needs to be... Calculated based on the effective coverage width, taking into account the minimum lateral overlap factor. The effective coverage arc length of each sensor on the horizontal circumference of this layer corresponds to the angle. Therefore, the number of sensors required The calculation formula is: , where ⌈⌉ represents rounding up. This formula ensures that even with a shortened circumference, seamless 360-degree coverage can still be achieved using an integer number of sensors, and the lateral field-of-view overlap angle between any two adjacent sensors is not less than . .

[0049] Secondly, determine the horizontal angle of the principal optical axis of each image sensor in this layer. To simplify installation and achieve a symmetrical design, The sensors are evenly distributed on the corresponding horizontal circumference of this layer, therefore the horizontal azimuth interval between adjacent sensors is... This angle is the projection angle of the main optical axis in the horizontal plane, ensuring that the sensors are arranged at equal intervals in the azimuth direction.

[0050] Next, determine the pitch angle of the principal optical axis of each image sensor in this layer. To ensure sufficient longitudinal field-of-view overlap between upper and lower layers, and to align the field-of-view center of each sensor layer with the geometric center of its corresponding strip, the principal optical axis pitch angle is set. This setting makes the first The lower edge of the sensor's field of view is located at the pitch angle. At that point, the upper edge is located at the pitch angle. The next floor The upper edge of the field of view begins at Therefore, the overlap angle between the two layers is It just satisfies the minimum vertical overlap coefficient The defined constraints.

[0051] After configuring all N layers of sensors, deploy a dedicated top image sensor in the top region of the reference hemisphere. The optical axis of this top sensor is vertically upward, and its field of view must be greater than [missing information]. This ensures complete coverage of the conical area at the top not covered by the strip. The sensor can be implemented using a fisheye lens or other wide-angle optics, and its mounting position is above the geometric center axis of the entire sensor array to ensure field-of-view symmetry.

[0052] During physical installation, the bottom of the imaging plane of all image sensors must be aligned with the same horizontal reference plane. This constraint ensures the mechanical alignment consistency of each sensor layer, facilitating the construction of a rigid support frame. The sensors are distributed in concentric rings around the center of the sphere, with each ring corresponding to a strip layer. The ring is equipped with There are 10 installation sites, each equipped with a mechanical support, the pitch angle of which is fixed at 10°. Horizontal azimuth according to Equal division setting.

[0053] During the execution of the method, different layers are allowed. Each individual sets its own minimum horizontal overlap coefficient. For example, at the lower level ( (Smaller) Due to its longer circumference and larger number of sensors, the size can be appropriately reduced. To reduce ; while at the high level ( Larger) due to circumference shortening, It is relatively small, which can improve This enhances lateral overlap and prevents coverage gaps caused by installation errors. This layered, independent optimization strategy minimizes the total number of sensors, reducing system cost and data processing load while maintaining global coverage integrity.

[0054] The output of the method is a complete set of sensor installation parameters, including the number of sensors per layer. Horizontal angle of principal optical axis Principal optical axis pitch angle This includes the field of view requirements of the top sensor, and these parameters can be used directly to guide physical deployment.

[0055] Corresponding to the method described above, the present invention also provides a multi-sensor deployment system covering a hemispherical space. This system includes multiple functional modules that work together to complete the entire process from parameter input to physical deployment.

[0056] The reference hemispherical definition module is used to set the center of the sphere as the monitoring center and the radius as... The reference hemisphere. The choice of this radius R does not affect the angle calculation; it is only used as a scale reference for geometric modeling. In actual deployment, it can be set to any positive value, usually taken as a unit length to simplify calculations.

[0057] The sensor parameter input module receives the lateral field of view of a single image sensor as set by the user. Longitudinal field of view Horizontal minimum overlap coefficient and the minimum vertical overlap coefficient These parameters can be obtained from the sensor specifications or determined through calibration experiments. The system supports batch input or item-by-item configuration to ensure parameter accuracy.

[0058] The layer angle calculation module calculates the angle according to the formula. Perform the calculation and output the layer angle. This module has a built-in numerical calculation unit that can handle floating-point operations and perform precision verification on the results to prevent subsequent layering errors caused by rounding errors.

[0059] The striping module divides the reference hemisphere along the pitch direction into... There are several bands, among which This module generates a list of stripe indices. Each stripe is assigned a unique identifier for subsequent layer-related calculations.

[0060] The top angle calculation module calculates the angle according to the formula. Calculate the angle of the top not covered This module also determines Is the temperature below 20 degrees Celsius? If not, a warning signal will be triggered, prompting the user to adjust the temperature. The value is recalculated until the engineering feasibility requirements are met.

[0061] The multi-layer sensor quantity calculation module calculates the number of sensors for each layer. ,implement The module includes a trigonometric function calculation unit, which can efficiently calculate cosine values ​​and handle rounding up. The calculation results are stored in the layer configuration database for subsequent modules to access.

[0062] The main optical axis direction determination module determines the direction of each layer. ,calculate and and the results are compared with The binding process creates a complete layer configuration record. This module ensures that all angle values ​​are output in degrees, retaining enough decimal places to meet high-precision installation requirements.

[0063] Top sensor configuration module according to Value, recommended or automatically selected, field of view greater than The image sensor model is determined, and its installation instructions are generated, including the optical axis direction (vertical upward), installation height, and fixing method.

[0064] The physical deployment execution module is responsible for translating all calculation results into actual installation actions. This module controls the assembly process of the rigid support frame. This rigid support frame consists of N horizontal concentric rings, each ring corresponding to a strip layer. The radius of the ring is based on Calculations were performed to ensure it was positioned at the corresponding height of the reference hemisphere. Each ring was equipped with... There are 12 sensor mounting bases evenly distributed at different angles, each mounting base integrating a fixed pitch angle. The hinge mechanism has its pitch angle pre-set at the factory; during installation, only the azimuth angle needs to be adjusted. Positioning is straightforward. The top sensor is mounted on a dedicated bracket above the central axis of the frame, with its optical axis strictly perpendicular.

[0065] The system also includes a coverage verification module. After physical deployment, this module determines the field of view assignment of a discrete set of sampling points on a reference hemisphere. The sampling point set is determined by adjusting the pitch angle in a spherical coordinate system. With azimuth Mesh generation is performed, with the mesh density set according to the application's accuracy requirements. For each sampling point, the coverage verification module performs ray casting: a ray is emitted from the center of the sphere towards that point, and each ray is checked sequentially to see if it falls within the field of view cone of any image sensor. The field of view cone is defined by the principal optical axis direction, and Common definition. If all sampling points are covered by at least one sensor, the deployment is considered successful; otherwise, the uncovered areas are marked, and adjustments are required. , Or add a sensor.

[0066] In the specific numerical example of this embodiment, the lateral field of view of the image sensor is set. The longitudinal field of view is 51 degrees and 30 minutes. The minimum horizontal overlap coefficient is 30 degrees and 12 minutes. The minimum vertical overlap coefficient is 0.1. The value is 0.1. The calculated layer angle is... Number of stripes The top is not covered by the angle. The temperature is less than 20 degrees Celsius, which meets the requirements.

[0067] For S0 layer ( =0): .

[0068] For S1 layer ( =1): .

[0069] For S2 layer ( =2): .

[0070] Deploying a sensor with a field of view greater than 13.9 degrees, such as 15 degrees, at the top will achieve full hemispherical coverage.

[0071] The method and system described in this embodiment achieve blind-spot-free, high-overlap, and low-redundancy coverage of the hemispherical space through rigorous geometric modeling and parametric control. All steps are based on deterministic calculations, without any ambiguity or optional operations, ensuring the feasibility and repeatability of the technical solution.

Claims

1. A method for arranging multiple sensors to cover a hemispherical space, characterized in that, include: A reference hemisphere is defined, with its center at the center of the monitored area and a radius of [missing information]. Set the lateral field of view of a single rectangular image sensor. With longitudinal field of view ,in Greater than or equal to Set the minimum horizontal overlap coefficient. Set the minimum vertical overlap coefficient. ; Calculation layer angle Its expression is ; The reference hemisphere is divided into multiple strips along the pitch direction, with each strip corresponding to a sensor arrangement area. The number of strips is... ; Calculate the angle of the top not covered Its expression is ; For each layer , Perform the following operations: Calculate the number of image sensors required for this layer. , Then round the resulting quotient up; determine the horizontal angle of the principal optical axis of each image sensor in this layer. , Determine the principal optical axis pitch angle of each image sensor in this layer. , ; In the top region of the reference hemisphere, a device with a field of view greater than [missing information] is deployed. The image sensor is used to cover the remaining top area not covered by the strip; All image sensors are aligned with their respective principal optical axes at horizontal angles. pitch angle relative to the principal optical axis The physical installation is performed so that the bottom of the imaging plane of all image sensors is on the same horizontal reference plane and distributed in a concentric ring around the center of the sphere.

2. The method for arranging multiple sensors to cover a hemispherical space according to claim 1, characterized in that, Angle of the calculation layer Previously, the minimum vertical overlap coefficient was dynamically adjusted based on the trade-off between coverage integrity and sensor cost in actual application scenarios. The value of is such that the top does not cover the angle. Less than 20 degrees Celsius.

3. The method for arranging multiple sensors to cover a hemispherical space according to claim 2, characterized in that, For different layers Each allows for the independent setting of its own minimum horizontal overlap coefficient. The goal is to minimize the number of image sensors required for this layer while ensuring that the lateral field of view overlap between adjacent sensors is not less than a preset threshold.

4. The method for arranging multiple sensors to cover a hemispherical space according to claim 3, characterized in that, The mounting structure of the image sensor includes a rigid support frame, which is composed of multiple concentric horizontal rings, each corresponding to a strip layer. The ring is equipped with The sensor mounting bases are evenly distributed at various angles. Each mounting base has a hinge mechanism with an adjustable pitch angle, the adjustment angle of which is fixed at a certain value. .

5. The method for arranging multiple sensors to cover a hemispherical space according to claim 4, characterized in that, The top image sensor is mounted above the central axis of the rigid support frame, with its optical axis pointing vertically upwards. Its field of view covers an area with the center of the sphere as its vertex and an angle of [missing information]. The conical region.

6. The method for arranging multiple sensors to cover a hemispherical space according to claim 5, characterized in that, The overlap angle between any two adjacent image sensors in the longitudinal field of view is no less than [value missing]. Furthermore, the overlap angle between any two adjacent image sensors in the same layer in the lateral field of view is not less than [value missing]. .

7. The method for arranging multiple sensors to cover a hemispherical space according to claim 6, characterized in that, During the physical installation process, the field of view assignment of discrete sampling points on the reference hemisphere is determined by ray casting method to confirm that all sampling points are covered by the field of view of at least one image sensor.

8. The method for arranging multiple sensors to cover a hemispherical space according to claim 7, characterized in that, The discrete sampling points are obtained by varying the pitch angle in a spherical coordinate system. With azimuth The grid is generated, and the grid density is set according to the application's accuracy requirements.

9. A multi-sensor arrangement system covering a hemispherical space, characterized in that, include: The reference hemisphere definition module is used to define a reference hemisphere with the monitoring center as the center and a radius of R. The sensor parameter input module is used to receive the lateral field of view of a single image sensor. Longitudinal field of view Horizontal minimum overlap coefficient and the minimum vertical overlap coefficient ; The layer angle calculation module is used to calculate the angle based on the formula. The layer angle was calculated. ; The striping module is used to divide the reference hemisphere along the pitch direction into strips. There are several bands, among which ; The top angle calculation module is used to calculate the angle according to the formula. Calculate the angle not covered at the top. ; The multi-layer sensor count calculation module is used to calculate the number of sensors for each layer. According to the formula Calculate the number of image sensors required for this layer; The main optical axis direction determination module is used for each layer. Determine the horizontal angle of the principal optical axis of each image sensor. Principal optical axis pitch angle ; Top sensor configuration module, used to configure the field of view to be greater than The image sensor is used to cover the top area; The physical deployment execution module is used to install all image sensors on a rigid support frame in accordance with the determined main optical axis direction, ensuring that the bottom of each layer of sensors is horizontally aligned and evenly distributed around the center of the sphere.

10. The multi-sensor hemispherical space arrangement system according to claim 9, characterized in that, The rigid support frame includes A series of horizontal concentric rings, each ring corresponding to a strip layer. The ring is equipped with There are 10 mounting sites, each equipped with a fixed pitch angle. Mechanical support.

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